Regeneration of Normal Distributions Transform for Target Lattice Based on Fusion of Truncated Gaussian Components.

In this letter, we propose a method that can be used to regenerate the 3-D normal distributions transform (NDT) for target lattice. When a pose is updated by simultaneous localization and mapping (SLAM), the lattice at the pose is also transformed. Given that NDT is a Gaussian mixture model generated by regular cells, the fusion of NDTs transformed with updated poses can distort the shapes of the ...